TCP online quick calibration method and device applied to industrial robot

Abstract

The invention discloses a TCP online quick calibration method and device applied to an industrial robot. The device comprises a control cabinet, a TCP calibration device, the industrial robot, a terminal tool and control buses; the control cabinet is separately connected with the TCP calibration device and the industrial robot through the control buses; the terminal tool is mounted on the industrial robot; the TCP calibration device includes a TCP detecting device, a calibration controller and a mounting base; the TCP detecting device is fixedly mounted on one side of the industrial robot through the mounting base; and a measuring plane is parallel to a XOY plane of an industrial robot base coordinate system. According to on-off signals of a correlation photoelectric sensor, the pose data of a flange is recorded, and the pose deviations of the terminal tool in X / Y axis and Z axis directions are calculated and compensated; and through multiple times of repeated operations, the TCP calibration errors are reduced, the operation precision of the industrial robot is effectively improved, the stop maintenance time of the industrial robot is reduced, and the automation degree of an industrial production line is improved.

Description

technical field [0001] The invention relates to an industrial robot terminal tool calibration technology, in particular to a TCP online rapid calibration method and device applied to an industrial robot. Background technique [0002] With the rapid development of industrial robot technology, it has gradually been more and more widely used in welding, cutting, assembly and other fields. By installing different end tools, industrial robots can complete a variety of tasks. Among them, the pose calibration accuracy of the Tool Center Point (TCP) directly affects the operation accuracy of the industrial robot. [0003] After working for a long time, the end tools of industrial robots (such as stud welding guns, cutting tools, etc.) will have certain posture deviations, which will cause problems such as the inability of industrial robots to complete preset functions. At present, the calibration of the end tool TCP of industrial robots mainly adopts the multi-point method of offl...

AI Technical Summary

Problems solved by technology

However, this method has certain disadvantages: (1) The TCP calibration process of the multi-point method is mainly affected by human factors (such as operating experience, etc.), which inevitably introduces large errors; (2) The calibration process takes a long time , will affect the production efficiency of industrial robots; (3) In order to achieve periodic calibration of the production line, it will consume a lot of human resources and reduce the overall production capacity of the production line

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